Multi-ultrasonic-sensor Grid Map Building Based on D-S Evidence Theory
A method of constructing and maintaining a grid map using ultrasonic sensors based on Dempster-Shafer evidence theory (D-S evidence theory) is proposed with respect to the problem of unstructured unknown environment exploration and mapping. Mobile robot moving in an environment explores with ultrasonic sensors; D-S evidence theory is used to fuse information; The problem that D-S evidence theory cant be applied to information fusion under certain circumstances and the matter that D-S evidence theory have counter-intuitive behaviors in some cases are discussed; An approximate process algorithm is advanced to avoid above problems; Finally, a two-dimensional grid map is built. Application result shows that this method is appropriate for unstructured unknown environment mapping.
Cao Hongyu Sun Hanxu Jia Qingxuan Zheng Yili
Beijing University of Posts and Telecommunications,Beijing,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
910-915
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）